According to the Madison and Fitchburg police, Poe, 33, of Chicago, was taken into custody at 7:05 p.m. by a SWAT team during a high-risk traffic stop.

Authorities said the eight-hour search ended without injuries on Highway 30 between Fair Oaks Avenue and Highway 51. Madison police Lt. Cory Nelson said police pointed weapons at the vehicle and ordered Poe out of the car.

Nelson said Poe was traveling with a woman and had shaved his head to change his appearance.

The search began in Madison at about 11 a.m. Thursday, after authorities said Poe was reported to be in the Madison area staying with friends. FBI Assistant Special Agent in Charge G.B. Jones described Poe as armed and dangerous, saying he was likely carrying a handgun. Police searched Fitchburg and west Madison for hours, believing Poe to be on foot.

Authorities -- including FBI agents, state investigators, sheriff’s deputies, Madison, Fitchburg and other local police -- plus K9 teams searched the surrounding areas and located a sweatshirt believed to be worn by Poe.

Poe was convicted in 2009 for aggravated battery and robbery, and was sought for questioning in a federal murder investigation. A federal warrant for his arrest was issued April 17.